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Not always, rarely even. The keep is usually a strong central tower, which the defending forces can retreat to if the outer walls are breached. Construction of a castle would usually involve a basic palisade wall while the keep is being built, the main wall constructed afterwards.

As an example, the White Tower is the keep at the Tower of London, it is in the middle of the structure, not attached to any of the walls.

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Q: Is the keep always above the gatehouse in castles?
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